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AP_Compass: support more external compasses on aerofc 

Let it probe on external bus. Aerofc has an HMC5883 on internal bus, but
we don't want it enabled as it interferes with the internal baro. Also
the rotation for the compass that comes with Aero RTF is different from
the other that got added later. That means people would need to orient a
third party IST8310-based compass differently on Aero RTF than on other
boards... that's a problem of having orientation based on the chip that
can't be solved on this commit.
This commit is contained in:
Lucas De Marchi 2018-08-06 14:35:40 -07:00 committed by Andrew Tridgell
parent 5de199bc01
commit 585b6dce0d
1 changed files with 13 additions and 11 deletions
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24
libraries/AP_Compass/AP_Compass.cpp
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@ -591,7 +591,8 @@ void Compass::_probe_external_i2c_compasses(void)
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
} }
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) { if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 &&
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
// internal i2c bus // internal i2c bus
FOREACH_I2C_INTERNAL(i) { FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
@ -675,14 +676,22 @@ void Compass::_probe_external_i2c_compasses(void)
// IST8310 on external and internal bus // IST8310 on external and internal bus
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) { if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
enum Rotation default_rotation;
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_AEROFC) {
default_rotation = ROTATION_PITCH_180_YAW_90;
} else {
default_rotation = ROTATION_PITCH_180;
}
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true); true, default_rotation), AP_Compass_IST8310::name, true);
} }
FOREACH_I2C_INTERNAL(i) { FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external); both_i2c_external, default_rotation), AP_Compass_IST8310::name, both_i2c_external);
} }
} }
#endif // HAL_MINIMIZE_FEATURES #endif // HAL_MINIMIZE_FEATURES
@ -733,6 +742,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_MINDPXV2: case AP_BoardConfig::PX4_BOARD_MINDPXV2:
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO: case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
case AP_BoardConfig::PX4_BOARD_AEROFC:
_probe_external_i2c_compasses(); _probe_external_i2c_compasses();
if (_backend_count == COMPASS_MAX_BACKEND || if (_backend_count == COMPASS_MAX_BACKEND ||
_compass_count == COMPASS_MAX_INSTANCES) { _compass_count == COMPASS_MAX_INSTANCES) {
@ -745,14 +755,6 @@ void Compass::_detect_backends(void)
AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(0, 0x10)), AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::name, true); AP_Compass_BMM150::name, true);
break; break;
case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_COMPASS_IST8310_I2C_BUS
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#endif
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: { case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus // external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),